{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,15]],"date-time":"2026-02-15T08:59:09Z","timestamp":1771145949954,"version":"3.50.1"},"reference-count":51,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561926","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"2316-2323","source":"Crossref","is-referenced-by-count":44,"title":["Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs"],"prefix":"10.1109","author":[{"given":"Fan","family":"Shi","sequence":"first","affiliation":[]},{"given":"Timon","family":"Homberger","sequence":"additional","affiliation":[]},{"given":"Joonho","family":"Lee","sequence":"additional","affiliation":[]},{"given":"Takahiro","family":"Miki","sequence":"additional","affiliation":[]},{"given":"Moju","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Farbod","family":"Farshidian","sequence":"additional","affiliation":[]},{"given":"Kei","family":"Okada","sequence":"additional","affiliation":[]},{"given":"Masayuki","family":"Inaba","sequence":"additional","affiliation":[]},{"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","first-page":"1101","article-title":"Deep dynamics models for learning dexterous manipulation","author":"nagabandi","year":"2020","journal-title":"Conference on Robot Learning"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"ref33","article-title":"Learning complex dexterous manipulation with deep reinforcement learning and demonstrations","author":"rajeswaran","year":"2017","journal-title":"arXiv preprint arXiv 1709 10119"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363524"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487156"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907059"},{"key":"ref37","article-title":"Solving rubik&#x2019;s cube with a robot hand","author":"akkaya","year":"2019","journal-title":"arXiv preprint arXiv 1910 07113"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794102"},{"key":"ref35","article-title":"Multi-goal reinforcement learning: Challenging robotics environments and request for research","author":"plappert","year":"2018","journal-title":"arXiv preprint arXiv 1802 09085"},{"key":"ref34","article-title":"Distributed distributional deterministic policy gradients","author":"barth-maron","year":"2018","journal-title":"arXiv preprint arXiv 1804 08685"},{"key":"ref28","first-page":"137","article-title":"Contact-invariant optimization for hand manipulation","author":"mordatch","year":"2012","journal-title":"Proceedings of the ACM SIGGRAPH\/Eurographics Symposium on Computer Animation"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.53"},{"key":"ref2","year":"0","journal-title":"Boston Dynamics Spot"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793865"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2961049"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"ref21","article-title":"Dynamic legged manipulation of a ball through multi-contact optimization","author":"yang","year":"2020","journal-title":"arXiv preprint arXiv 2008 06439"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2013.2263192"},{"key":"ref23","author":"lynch","year":"1996","journal-title":"Nonprehensile robotic manipulation Controllability and planning"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844067"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1993.583091"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1145\/1553374.1553380"},{"key":"ref51","article-title":"Allsteps: Curriculum-driven learning of stepping stone skills","author":"xie","year":"2020","journal-title":"arXiv preprint arXiv 2005 06138"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487545"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794273"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"ref12","article-title":"Optimizing dynamic trajectories for robustness to disturbances using polytopic projections","author":"ferrolho","year":"2020","journal-title":"arXiv preprint arXiv 2003 07516"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014839"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3007482"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525550"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.895266"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014260"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509220"},{"key":"ref19","article-title":"Optimisation of body-ground contact for augmenting whole-body loco-manipulation of quadruped robots","author":"wolfslag","year":"2020","journal-title":"arXiv preprint arXiv 2002 10381"},{"key":"ref4","article-title":"Robust recovery controller for a quadrupedal robot using deep reinforcement learning","author":"lee","year":"2019","journal-title":"arXiv preprint arXiv 1901 10055"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref6","article-title":"Learning a contact-adaptive controller for robust, efficient legged locomotion","author":"da","year":"2020","journal-title":"arXiv preprint arXiv 2009 10019"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979660"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21839"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref49","article-title":"Proximal policy optimization algorithms","author":"schulman","year":"2017","journal-title":"arXiv preprint arXiv 1707 06347"},{"key":"ref9","article-title":"Autonomous spot: Long-range autonomous exploration of extreme environments with legged locomotion","author":"bouman","year":"2020","journal-title":"arXiv preprint arXiv 2010 00170"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792536"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2017.1378591"},{"key":"ref48","article-title":"Crossing the gap: A deep dive into zero-shot sim-to-real transfer for dynamics","author":"valassakis","year":"2020","journal-title":"arXiv preprint arXiv 2008 06439"},{"key":"ref47","first-page":"1","article-title":"Deepmimic: Example-guided deep reinforcement learning of physics-based character skills","volume":"37","author":"peng","year":"2018","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"ref42","first-page":"1","article-title":"Data efficient reinforcement learning for legged robots","author":"yang","year":"2020","journal-title":"Conference on Robot Learning"},{"key":"ref41","article-title":"Learning to walk via deep reinforcement learning","author":"haarnoja","year":"2018","journal-title":"arXiv preprint arXiv 1812 11467"},{"key":"ref44","article-title":"Learning agile robotic locomotion skills by imitating animals","author":"peng","year":"2020","journal-title":"arXiv preprint arXiv 2004 06774"},{"key":"ref43","article-title":"Learning to walk in the real world with minimal human effort","author":"ha","year":"2020","journal-title":"arXiv preprint arXiv 2002 05155"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561926.pdf?arnumber=9561926","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T15:47:17Z","timestamp":1652197637000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561926\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":51,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561926","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}